EP0587902A1 - Systeme de commande hydraulique - Google Patents

Systeme de commande hydraulique Download PDF

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Publication number
EP0587902A1
EP0587902A1 EP93904317A EP93904317A EP0587902A1 EP 0587902 A1 EP0587902 A1 EP 0587902A1 EP 93904317 A EP93904317 A EP 93904317A EP 93904317 A EP93904317 A EP 93904317A EP 0587902 A1 EP0587902 A1 EP 0587902A1
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EP
European Patent Office
Prior art keywords
flow rate
hydraulic
flow
ref
deviation
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Application number
EP93904317A
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German (de)
English (en)
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EP0587902B1 (fr
EP0587902A4 (fr
Inventor
Hirohisa Tanaka
Morio Oshina
Takashi Kanai
Atsushi Cityheights-Kimiyama 201 Tanaka
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to a hydraulic drive system for driving a plurality of hydraulic actuators by a single variable displacement hydraulic pump, and more particularly to a hydraulic drive system for driving a plurality of hydraulic actuators while controlling a delivery rate of a hydraulic pump depending on a demanded flow rate.
  • a hydraulic drive system for driving a plurality of hydraulic actuators by a single variable displacement hydraulic pump there is known a so-called load sensing control system in which a delivery rate of the hydraulic pump is controlled in such a manner as to supply a flow rate only demanded by the hydraulic actuators.
  • the load sensing control system is described in, for example, West German Patent No. 3,321,483, JP, B, 60-11706 and JP, A, 2-261902.
  • the load sensing control system (hereinafter referred to as an LS control system) comprises a variable displacement hydraulic pump, a plurality of hydraulic actuators connected to the hydraulic pump in parallel, a plurality of flow control valves for respectively driving the plurality of hydraulic actuators, a plurality of control levers for instructing respective flow rates to the plurality of flow control valves, a circuit for detecting maximum one of load pressures of the plurality of hydraulic actuators, and a pump regulator for controlling a delivery rate of the hydraulic pump so that a delivery pressure of the hydraulic pump is held higher a fixed value than the maximum load pressure.
  • the associated flow control valve When any one of the control levers is operated, the associated flow control valve is opened with an opening corresponding to an input amount from that control lever (i.e., a demanded flow rate), whereby a hydraulic fluid from the hydraulic pump is supplied to the associated hydraulic actuator through a pressure compensating valve and the flow control valve. Simultaneously, a load pressure of that hydraulic actuator is introduced as the maximum load pressure to the pump regulator which controls the pump delivery rate so that the pump delivery pressure is held higher a fixed value than the maximum load pressure.
  • the opening of the flow control valve is also small and so is a flow rate of the hydraulic fluid passing through the flow control valve, so that the pump delivery pressure is held higher a fixed value than the maximum load pressure at the small pump delivery rate.
  • the opening of the flow control valve is also increased and so does the flow rate of the hydraulic fluid passing through the flow control valve, whereupon the pump delivery rate is increased to keep the pump delivery pressure higher a fixed value than the maximum load pressure.
  • the flow control valve associated with the hydraulic actuator on the lower load side produces a larger differential pressure across the same than that on the higher load side, and the hydraulic fluid is supplied at a larger flow rate to the hydraulic actuator on the lower load side.
  • the combined operation of those plural hydraulic actuators can no longer be performed in accordance with an opening ratio between the flow control valves (i.e., a demanded flow rate ratio).
  • the LS control system includes a pressure compensating valve disposed upstream of the flow control valve for controlling a differential pressure across the flow control valve.
  • the upstream pressure compensating valve is operated in a valve-closing direction to restrict the flow rate, thereby reducing the differential pressure across that flow control valve.
  • the differential pressures across the flow control valves on both the higher and lower load sides are maintained at substantially the same value, enabling the associated plural actuators to be simultaneously driven in accordance with the opening ratio between the flow control valves (i.e., the demanded flow rate ratio).
  • the pressure compensating valve requires to be provided for controlling the differential pressure across the associated flow control valve.
  • JP, A, 52-76585 discloses a system in which a flow rate of the hydraulic fluid supplied to a hydraulic actuator is detected for controlling an opening of an associated flow control valve so that the flow rate is held in match with a demanded flow rate.
  • the differential pressure ⁇ P1 is determined by a rated flow rate and size of the flow control valve. If the flow control valve used has a large size relative to its rated flow rate, the differential pressure ⁇ P1 can be set to a small value. On the contrary, if the flow control valve used has a small size relative to its rated flow rate, the differential pressure ⁇ P1 must be set to a large value.
  • the differential pressure ⁇ P1 must be set to a value which is produced when the hydraulic fluid flows at the rated flow rate with the input amount from the control lever maximized to make the opening of the flow control valve maximum. Therefore, in the case of using a flow control valve of which size is small relative to its rated flow rate for reducing the system size, the differential pressure ⁇ P1 necessarily becomes a large value.
  • the differential pressure ⁇ P1 is not determined by the above conditions only. More specifically, viscosity of working oil (hydraulic fluid) is changed to a large extent depending on temperatures and becomes large at a low temperature. To enable the hydraulic fluid to flow at a rated flow rate even under a low temperature, therefore, it is required that the differential pressure ⁇ P1 be set to a higher value with a margin. Accordingly, the value of the differential pressure ⁇ P1 must be larger than the value determined by the foregoing conditions.
  • the differential pressure ⁇ P1 across the flow control valve is usually set to a large value and a pressure loss in the hydraulic circuit also becomes large correspondingly.
  • the LS control system generally includes the pressure compensating valve as mentioned above.
  • the pressure compensating valve also produces a pressure loss ⁇ P2 besides the differential pressure ⁇ P1 across the flow control valve.
  • the pressure loss ⁇ P2 comprises a pressure loss produced by the pressure compensating valve itself (i.e., a pressure loss produced when the pressure compensating valve is maximally opened), and a pressure loss produced due to that the pressure compensating valve associated with the actuator on the lower load side is restricted.
  • the pump delivery rate must be controlled in consideration of the differential pressure ⁇ P1 and the pressure loss ⁇ P2 so that the pump delivery pressure is held higher a fixed value than the maximum load pressure.
  • the fixed value in the LS control is a target differential pressure ⁇ P0
  • this target differential pressure ⁇ P0 must be set to a value larger than the sum of the differential pressure ⁇ P1 and the pressure loss ⁇ P2 and, in practice, it is set to a still larger value in consideration of a pressure through lines and so on.
  • the target differential pressure ⁇ P0 is usually in a range of 15 to 30 bar and this value cannot be said to be small relative to a usual rated value of the hydraulic circuit in a range of 250 to 350 bar.
  • Another problem experienced in the LS control system is as follows. As explained above, the flow rate of the hydraulic fluid supplied to the hydraulic actuator is adjusted on condition that the differential pressure across the flow control valve is held constant by the pressure compensating valve. In practice, however, a flow of the hydraulic fluid (working oil) passing through the flow control valve is always affected by viscosity of the working oil. Particularly, when the working oil has high viscosity at a low temperature, the flow rate of the hydraulic fluid supplied to the hydraulic actuator becomes smaller than that instructed by the input amount from the control lever (i.e., the demanded flow rate).
  • An object of the present invention is to provide a hydraulic drive system which has a function of controlling a delivery rate of a hydraulic pump in accordance with a demanded flow rate, produces a small pressure loss, and can perform high-accurate flow control regardless of temperatures of working oil.
  • a hydraulic drive system comprising a variable displacement hydraulic pump, a plurality of hydraulic actuators connected to said hydraulic pump in parallel, a plurality of flow control valves for respectively driving said plurality of hydraulic actuators, and a plurality of flow rate instructing means for instructing respective flow rates to said plurality of flow control valves
  • said system further comprises a plurality of flow rate sensor means for detecting respective flow rates supplied to said plurality of hydraulic actuators, first control means for respectively controlling said plurality of flow control valves so that the flow rates detected by said plurality of flow rate sensor means are coincident with the flow rates instructed by said plurality of flow rate instructing means, and second control means for controlling a delivery rate of said hydraulic pump such that the delivery rate of said hydraulic pump is smaller by a predetermined flow rate than the total of the flow rates instructed by said plurality of flow rate instructing means.
  • said second control means controls a displacement volume of said hydraulic pump such that the total of the flow rates detected by said plurality of flow rate sensor means is smaller by said predetermined flow rate than the total of the flow rates instructed by said plurality of flow rate instructing means.
  • said second control means controls the delivery rate of said hydraulic pump by using flow rate deviations resulted from respectively subtracting the flow rates detected by said plurality of flow rate sensor means from the flow rates instructed by said plurality of flow rate instructing means.
  • said second control means comprises first calculation means for calculating the total of flow rate deviations resulted from respectively subtracting the flow rates detected by said plurality of flow rate sensor means from the flow rates instructed by said plurality of flow rate instructing means, deviation output means for outputting a value corresponding to said predetermined flow rate as a reference deviation, second calculation means for calculating a difference between the total of the flow rate deviations obtained by said first calculation means and the reference deviation output from said deviation output means, and third calculation means for determining a target displacement volume of said hydraulic pump based on the difference obtained by said second calculation means.
  • said first calculation means preferably comprises means for adding said flow rate deviations.
  • Said first calculation means may comprise means for selecting a maximum value of said flow rate deviations.
  • said second control means comprises first calculation means for calculating the total of the flow rates instructed by said plurality of flow rate instructing means, deviation output means for outputting a value corresponding to said predetermined flow rate as a reference deviation, second calculation means for calculating a difference between the total of the instructed flow rates obtained by said first calculation means and the reference deviation output from said deviation output means, and third calculation means for determining a target displacement volume of said hydraulic pump based on the difference obtained by said second calculation means.
  • said second control means includes deviation output means for outputting a value corresponding to said predetermined flow rate as a reference deviation.
  • Said deviation output means preferably stores said reference deviation as a constant beforehand.
  • Said deviation output means may include means for determining said reference deviation depending on the total of the flow rates instructed by said plurality of flow rate instructing means.
  • said deviation output means may include means for determining one of said plurality of hydraulic actuators which is subjected to a maximum load pressure, means for selecting one of the flow rates instructed by said flow rate instructing means which corresponds to said hydraulic actuator subjected to the maximum load pressure, and means for determining said reference deviation depending on said selected instructed flow rate.
  • said second control means comprises integration means for calculating a target displacement volume of said hydraulic pump adapted to make the delivery rate of said hydraulic pump smaller by said predetermined flow rate than the total of the flow rates instructed by said plurality of flow rate instructing means, means for calculating the total of the flow rates instructed by said plurality of flow rate instructing means, means for calculating a modification value for said target displacement volume based on the total of said instructed flow rates, and means for adding said modification value to the target displacement volume calculated by said integration means and calculating a final target displacement volume.
  • the first control means performs flow servo control such that the flow rates detected by the flow rate sensor means are coincident with the flow rates instructed by the flow rate instructing means.
  • the hydraulic actuators are always supplied with the hydraulic fluid (working oil) at respective flow rates corresponding to the instruction values from the flow rate instructing means in spite of change in temperatures of the working oil, etc.
  • the second control means controls the delivery rate of the variable displacement hydraulic pump such that the delivery rate of the hydraulic pump is smaller by the predetermined flow rate than the total of the flow rates instructed by the flow rate instructing means.
  • pump delivery rate can be controlled independently of the flow servo control, which enables stable control free from hunting.
  • Fig. 1 is a diagram of a hydraulic drive system according to a first embodiment of the present invention.
  • Fig. 2 is a block diagram showing a function of a valve controller shown in Fig. 1.
  • Fig. 3 is a block diagram showing a function of a modification of the valve controller shown in Fig. 1.
  • Fig. 4 is a block diagram showing a function of a pump tilting controller shown in Fig. 1.
  • Fig. 5 is a block diagram showing a function of a pump tilting controller in a hydraulic drive system according to a second embodiment of the present invention.
  • Fig. 6 is a block diagram showing a function of a pump tilting controller in a hydraulic drive system according to a third embodiment of the present invention.
  • Fig. 7 is a diagram of a hydraulic drive system according to a fourth embodiment of the present invention.
  • Fig. 8 is a block diagram showing a function of a pump tilting controller shown in Fig. 7.
  • Fig. 9 is a block diagram showing a function of a pump tilting controller in a hydraulic drive system according to a fifth embodiment of the present invention.
  • Fig. 10 is a block diagram showing a function of a pump tilting controller in a hydraulic drive system according to a sixth embodiment of the present invention.
  • Fig. 11 is a diagram of a hydraulic drive system according to a seventh embodiment of the present invention.
  • Fig. 12 is a block diagram showing a function of a pump tilting controller shown in Fig. 11.
  • a hydraulic drive system comprises a variable displacement hydraulic pump 1 driven by a prime mover (not shown) and having a displacement volume varying mechanism (hereinafter represented by a swash plate), a plurality of hydraulic cylinders or actuators 3A, 3B... (hereinafter represented by 3A, 3B) connected to the hydraulic pump 1 in parallel and driven by a hydraulic fluid delivered from the hydraulic pump 1, a plurality of flow control valves 40A, 40B... (hereinafter represented by 40A, 40B) for respectively controlling flow rates of the hydraulic fluid supplied to the plurality of hydraulic cylinders and controlling driving of these hydraulic cylinders, a plurality of control levers 5A, 5B...
  • 11A, 11B for respectively controlling driving of the flow control valves 40A, 40b based on signals from the input amount sensors 50A, 50B and the flow rate sensors 10A, 10B, a pump tilting controller 12 for calculating a tilting command value (target displacement volume) of the swash plate of the hydraulic pump 1 based on signals from the valve controllers 11A, 11B, and a regulator 20 for driving the swash plate 1a of the hydraulic pump 1 based on a signal from the pump tilting controller 12.
  • 11A, 11B for respectively controlling driving of the flow control valves 40A, 40b based on signals from the input amount sensors 50A, 50B and the flow rate sensors 10A, 10B
  • a pump tilting controller 12 for calculating a tilting command value (target displacement volume) of the swash plate of the hydraulic pump 1 based on signals from the valve controllers 11A, 11B
  • a regulator 20 for driving the swash plate 1a of the hydraulic pump 1 based on a signal from the pump tilting controller 12.
  • the flow control valves 40A, 40B are of solenoid actuated valves electromagnetically driven with respective control signals from the valve controllers 11A, 11B.
  • the input amount sensors 50A, 50B potentiometers are used by which operation of the control levers 5A, 5B in one direction from their neutral positions is given with a "+" sign and their operation in the other direction is given with a "+” sign.
  • the flow rate sensors 10A, 10B can be of, for example, the turbine flow type, the volume type or the Doppler type.
  • the regulator 20 has a solenoid valve operated in response to the signal from the pump tilting controller 12, and the swash plate 1a is driven through operation of that solenoid valve.
  • the valve controllers 11A, 11B and the pump tilting controller 12 each comprise a microcomputer. Alternatively, these controllers may be constituted by one common microcomputer.
  • valve controllers 11A, 11B and the pump tilting controller 12 have control functions shown in block diagrams of Figs. 2 to 4. These control functions will be apparent from the following description of operation of this embodiment.
  • valve controller 11A calculates a deviation ⁇ Q1 between a detected input amount X1 and a flow rate Y1 detected by the flow rate sensor 10A in a subtracter 110, integrates the deviation ⁇ Q1 in an integrator 111, and further calculates an opening command value K1 by multiplying a gain K i .
  • an absolute value circuit 114 takes an absolute value of the input amount X1, the absolute value being compared with the detected flow rate Y1.
  • a switching control unit 112 outputs a digital value "1" when the sign of the input amount X1 (i.e., the direction in which the control lever 5A is operated) is "+”, and a digital value "0" when it is "-”.
  • the opening command value K1 is output to one side of the flow control valve 40A in match with the operating direction of the control lever 5A through a switch 113 under control of the switching control unit 112.
  • the input amount (instructed flow rate) X1 becomes equal to the detected flow rate (actual flow rate) Y1, the opening command value K1 comes into a steady state.
  • the opening degree of the flow control valve 40A is controlled depending on the input amount from the control lover in such a manner that, even with change in viscosity of the working oil and other factors, the flow control valve 40A is precisely controlled to such an opening as adapted to provide the instructed flow rate.
  • that control of the flow control valve will be referred to as flow servo control.
  • valve controller 11B when the control lever 5B is operated, the flow servo control is performed by the valve controller 11B in exactly the same manner as mentioned above.
  • the valve controllers 11A, 11B implement the same flow servo control independently of each other. Note that status amounts and calculated values relating to the valve controller 11B are indicated by adding a suffix 2.
  • Fig. 3 shows a modification in which another function is added to the functions shown in Fig. 2.
  • the same components as those in Fig. 2 are denoted by the same reference numerals.
  • Denoted by 116 is a proportional element Kp for the deviation ⁇ Q used to improve responsivity of the control, and 117 is a differentiation element Kd ⁇ S for the deviation ⁇ Q used to provide stability in the control.
  • the remaining functions are the same as shown in Fig. 2.
  • the pump tilting controller 12 makes control as shown in Fig. 4. More specifically, in Fig. 4, the pump tilting controller 12 receives the deviations (hereinafter referred to as flow rate deviations) ⁇ Q1, ⁇ Q2 calculated by the subtracters 110 of the valve controllers 11A, 11B shown in Fig. 2. Note that the pump tilting controller 12 receives the flow rate deviations ⁇ Q1 to ⁇ Q n in Fig. 4 on an assumption that the hydraulic actuators, the flow control valves, the valve controllers, etc. are each provided in number of n. The pump tilting controller 12 calculates the total ⁇ Q of those flow rate deviations ⁇ Q1 to ⁇ Q n in an adder 120.
  • flow rate deviations hereinafter referred to as flow rate deviations
  • An output ⁇ Q of the adder 120 is compared in a subtracter 122 with a reference deviation ⁇ Q ref which is set as a constant in a deviation setting unit 121 beforehand, thereby calculating a value equal to a result of subtracting the latter from the former.
  • the value obtained by the subtracter 122 is further subjected to calculation in an integrator 123 which has the same function as the integrator 111 shown in Fig. 2, and the calculated result is output as a tilting command value L to the regulator 20.
  • the regulator 20 controls tilting of the swash plate 1a of the hydraulic pump 1 for controlling the delivery rate of the hydraulic pump 1.
  • valve controllers 11A, 11B implement the flow servo control for the flow control valves 40A, 40B so that the deviations ⁇ Q1, ⁇ Q2 between the instructed flow rates (demanded flow rates) corresponding to the input amounts X1, X2 and the detected flow rates (actual flow rates) Y1, Y2 each become zero.
  • the pump tilting controller 12 controls the delivery rate of the hydraulic pump 1 based on the integrated value of the value resulted by subtracting the reference deviation ⁇ Q ref from the total ⁇ Q of the flow rate deviations.
  • the pump delivery rate is controlled so that the total of the detected flow rates Y1, Y2 becomes smaller than the total of the demanded flow rates by a predetermined flow rate corresponding to the reference deviation ⁇ Q ref .
  • the delivery rate of the hydraulic pump 1 is controlled to a flow rate smaller than the total demanded flow rate by a predetermined flow rate corresponding to the reference deviation ⁇ Q ref .
  • the hydraulic cylinder 3A is supplied with the hydraulic fluid at a flow rate smaller the reference deviation ⁇ Q ref than that corresponding to the input amount from the control lever 5A, although the valve controller 11A performs the flow servo control for the flow control valve 40A. Therefore, the opening of the flow control valve 40A is controlled to its maximum value and the resulting smaller pressure loss by the flow control valve 40A makes it possible to suppress the delivery pressure of the hydraulic pump 1 at a lower level. A reduction in the supply flow rate by the amount of ⁇ Q ref will not give rise to any trouble in practical use if the reference deviation ⁇ Q ref is set to a value as small as possible while achieving the intended function.
  • the delivery pressure of the hydraulic pump is desirably the same as maximum one of load pressures produced by the plural hydraulic actuators.
  • the hydraulic fluid is supplied via the flow control valve to the hydraulic actuator producing the maximum load pressure, it is inevitable that the delivery pressure of the hydraulic pump is raised by an amount of the pressure loss produced by the flow control valve.
  • the flow control valve associated with the hydraulic actuator producing the maximum load pressure is maximized in its opening, as mentioned above, the pressure loss produced by the flow control valve is minimized, enabling the delivery pressure of the hydraulic pump to be ideally suppressed to a necessary lowest value.
  • the fact that the delivery rate of the hydraulic pump 1 is controlled to a value smaller the reference deviation ⁇ Q ref than the demanded flow rate has an important meaning below in this embodiment.
  • the reference deviation ⁇ Q ref is not set in this embodiment. This corresponds to the case that the hydraulic drive system shown in Fig. 1 has the pump tilting controller not provided with the components 121, 122 in the block diagram of Fig. 4. Let it be also supposed that the delivery rate of the hydraulic pump happens to become larger than the demanded flow rate in the above arrangement. This condition may occur, for example, if the flow servo control functions, prior to a reduction in the delivery rate of the hydraulic pump, for restricting the opening of the flow control valve to achieve the target flow rate, when the input amount from the control lever is reduced. In such a case, the surplus hydraulic fluid is returned to a reservoir via a relief valve provided, though not shown in Fig. 1, near a pump delivery port for the safety purpose.
  • the pump delivery pressure is raised up to a set pressure of the relief valve no matter how light the actuator load may be.
  • the flow control valves are controlled such that their openings are reduced to supply the hydraulic fluids at respective predetermined flow rates even with the associated actuators having light loads. Accordingly, the total flow rate deviation ⁇ Q becomes 0 and the output of the integrator 123 is not changed, meaning that the pump tilting amount remains the same and the above relief condition is maintained in such as case. In other words, the hydraulic pump cannot generate the required flow rate and pressure only, making the system fail to function as a practical one.
  • the tilting amount of the hydraulic pump is gradually reduced with the presence of ⁇ Q ref , enabling the system to escape from the relief condition.
  • the hydraulic pump can be efficiently operated while generating the required flow rate and pressure only.
  • the presence of the reference deviation ⁇ Q ref makes it first possible to, in parallel to the flow servo control, implement control of the pump delivery rate in accordance with the demanded flow rate.
  • this embodiment uses the total flow rate deviation ⁇ Q, rather the input amounts X1, X2 from the control levers, for controlling the pump delivery rate in accordance with the demanded flow rate, and this feature provides the following important action.
  • the delivery rate of the hydraulic pump is controlled by receiving the input amounts X1, X2 from the control levers without introducing the reference deviation ⁇ Q ref .
  • the pump delivery rate can be controlled to be coincident with the demanded flow rate in parallel to the flow servo control.
  • the sensors contain errors in terms of detection accuracy.
  • the hydraulic fluid is delivered from the hydraulic pump at 100 l/min, whereas the actuators are supplied with only at 99 l/min, resulting in the problem that there occurs a surplus flow rate of 1 l/min which is released similarly to the above-mentioned case. Accordingly, the hydraulic pump requires power greater than necessary and efficiency of the entire system is lowered.
  • a first method for avoiding the above drawback is to set the pump delivery rate at a relatively small value such that the delivery rate of the hydraulic pump becomes still insufficient or smaller than the value obtained by subtracting accumulated all errors possibly occurred in the sensors, the regulator and so forth from the required pump delivery rate.
  • This can be realized by providing a reference deviation ⁇ Q ref as with this embodiment. Note that the first method will be described in detail later as another embodiment (see Figs. 11 and 12). In that case, the reference deviation ⁇ Q ref is given by approximately 1 to 5 % of the maximum delivery rate of the hydraulic pump x N (where N is the number of hydraulic actuators).
  • using the total flow rate deviation ⁇ Q is equivalent to inform the hydraulic pump of whether the flow rates are sufficient or deficient, based on the result of the flow servo control on the hydraulic actuator side and, therefore, the aforesaid relief condition will not occur due to accuracy of the flow rate sensors 10A, 10B. Also, since the tilting amount of the hydraulic pump is only increased and decreased based on information about sufficiency or deficiency in the flow rates from the hydraulic actuator side by using the integrator 123 rather than specifying an absolute value of the tilting amount, accuracy on the pump control side will never be affected.
  • the relief condition may occur for another reason as mentioned above in the absence of the reference deviation ⁇ Q ref , making the system fail to function as a practical one.
  • ⁇ Q ref used in this case is not affected by accuracy of the sensors and the pump control side, it can be set to a very small value in consideration of, strictly speaking, an error possibly occurred in calculation by the controllers which generally comprise micro-computers.
  • the reference deviation ⁇ Q ref is approximately 0.1 to 3 % of the maximum delivery rate of the hydraulic pump. Accordingly, it is possible to minimize a lack of the flow rate for the hydraulic actuator producing the maximum load pressure and to achieve the accurate flow control. It should be understood that for a response becomes slow in the transient region if the reference deviation ⁇ Q ref is too small, the reference deviation ⁇ Q ref is actually determined, taking into account responsivity as well.
  • the hydraulic actuator driven through the flow control valve can be operated with high accuracy without being affected by oil temperatures, etc. Also, since the flow control valve associated with the hydraulic actuator producing the maximum load pressure is maximized in its opening, the pressure loss can be suppressed to a small value.
  • the pump delivery rate of the hydraulic pump is controlled by using the total flow rate deviation ⁇ Q
  • the pump delivery rate can be controlled by setting a small value of the reference deviation ⁇ Q ref without causing the relief condition, and an influence of the reference deviation upon the flow control is minimized to enable the accurate flow control.
  • a pump tilting controller 12A has functions different from those shown in Fig. 4 only in that a maximum value selector 124 is provided instead of the adder 120, the remaining functions are the same.
  • the maximum value selector 124 selects maximum one of the deviations ⁇ Q1, ⁇ Q2... ⁇ Q n and outputs it to the subtracter 122. Selecting the maximum flow rate deviation by the maximum value selector 124 in this embodiment implies that tilting control of the hydraulic pump is performed by using information about the actuator of which flow rate is most insufficient, whereby a transient response is improved.
  • the valve controller 11A implements the flow servo control for the flow control valve 40A in such a manner as explained above.
  • the pump tilting controller 12A implements the control with the same functions as those of the first embodiment shown in Fig. 4. Specifically, the flow rate deviation ⁇ Q1 as a deviation between the input amount X1 and the detected flow rate Y1 is selected as the maximum flow rate deviation by the maximum value selector 124, and the pump delivery rate is controlled to become smaller the reference deviation ⁇ Q ref than the demanded flow rate. Also, the flow control valve 40A is controlled to have its maximum opening.
  • the flow rate supplied to only the hydraulic cylinder 3B as the hydraulic actuator producing the maximum load pressure becomes insufficient by an amount of the reference deviation ⁇ Q ref and the flow control valve 40B is controlled to be maximized in its opening.
  • the maximum value selector 124 functions as means for calculating the total flow rate deviation ⁇ Q in a steady state.
  • the reference deviation ⁇ Q ref has been described as a preset constant. It has also been stated that the satisfactory operation can be achieved by setting the reference deviation ⁇ Q ref to be approximately 0.1 to 3 % of the maximum delivery rate of the hydraulic pump in consideration of responsivity in the transient region.
  • the hydraulic actuator operated under the maximum load pressure is always supplied with the hydraulic fluid only at a flow rate smaller the deviation ⁇ Q ref than the demanded flow rate, the deviation ⁇ Q ref is desirably made as small as practicable in fine operation requiring higher accuracy.
  • This embodiment includes a function to meet such a requirement.
  • a pump tilting controller 12B receives, in addition to the signals of the flow rate deviations ⁇ Q1, ⁇ Q2... ⁇ Q n from the valve controllers 11A, 11B, the signals of absolute values of the input amounts X1, X2...X n from the control levers and calculates the tilting command value L based on these signals.
  • the pump tilting controller 12B has an adder 126 for adding the absolute values of the input amounts X1, X2...X n , and a multiplier 127 for multiplying the total of these absolute values of the input amounts by a constant Kx. An output of the multiplier 127 becomes the deviation ⁇ Q ref .
  • the remaining functions are the same as those shown in Fig. 4.
  • the total of the demanded flow rates is calculated by the adder 126 and the deviation ⁇ Q ref is determined by multiplying the total demanded flow rate by the proper constant Kx.
  • the deviation ⁇ Q ref is determined in proportion to the total demanded flow rate, with the result of that particularly when the total demanded flow rate is small, a control error in the flow rate supplied to the hydraulic actuator producing the maximum load pressure can be made smaller.
  • the deviation ⁇ Q ref also becomes large to permit the control with a good response in the transient region.
  • FIG. 7 A fourth embodiment of the present invention will be described with reference to Figs. 7 and 8. This embodiment is intended to provide another method of determining the reference deviation ⁇ Q ref .
  • Fig. 7 the same components as those in Fig. 1 are denoted by the same reference numerals.
  • a hydraulic drive system of this embodiment includes shuttle valves 13A, 13B... (hereinafter represented by 13A, 13B), pressure sensors 14A, 14B... (hereinafter represented by 14A, 14B), and a maximum load pressure selector 15.
  • the pressure sensors 14A, 14B respectively output, through the shuttle valves 13A, 13B, electric signals V1, V2 proportional to load pressures of the hydraulic cylinders 3A, 3B.
  • the maximum load pressure selector 15 receives the signals from the pressure sensors 14A, 14B and outputs a signal N corresponding to the hydraulic actuator which produces a maximum load pressure.
  • a pump tilting controller 12C has the same functions as those of the pump tilting controller 12 shown in Fig. 1 except for its part.
  • Fig. 8 is a block diagram for explaining functions of the pump tilting controller 12C.
  • the pump tilting controller 12C receives, in addition to the signals of the flow rate deviations ⁇ Q1, ⁇ Q2... ⁇ Q n from the valve controllers 11A, 11B, the signals of absolute values of the input amounts X1, X2...X n from the control levers and the signal N from the maximum load pressure selector 15.
  • the pump tilting controller 12C has a switching unit 129 for receiving the absolute values of the input amounts X1, X2...X n and the signal N from the maximum load pressure selector 15 and selecting the absolute value of the input amount corresponding to the hydraulic actuator which produces the maximum load pressure, and a multiplier 127 for multiplying the selected absolute values of the input amount by a constant Kx. An output of the multiplier 127 becomes the deviation ⁇ Q ref .
  • the remaining functions are the same as those shown in Fig. 4.
  • the hydraulic actuator producing the maximum load pressure is always supplied with the hydraulic fluid at a flow rate smaller the reference deviation ⁇ Q ref than the demanded flow rate. Therefore, by changing the reference deviation ⁇ Q ref depending on the instructed flow rate for that hydraulic actuator, control accuracy can be further increased.
  • the pressure sensors 14A, 14B and the maximum load pressure selector 15 shown in Fig. 7 are provided for the above purpose. More specifically, the maximum load pressure selector 15 functions as means for detecting the hydraulic actuator producing the maximum load pressure; i.e., it selects the hydraulic actuator producing the maximum load pressure based on the pressure signals applied thereto and outputs the signal N corresponding to that hydraulic actuator.
  • the pump tilting controller 12C receives the signal N at the switching unit 129, selects one of the absolute values of the input amounts from the control levers corresponding to that hydraulic actuator, and outputs it to the multiplier 127.
  • the hydraulic actuator producing the maximum load pressure is surely supplied with the hydraulic fluid at a flow rate smaller than the demanded flow rate by a value equal to the product of the demanded flow rate and the constant Kx.
  • Kx being 0.01
  • the deviation ⁇ Q ref is 1 % of the instructed flow rate for the hydraulic actuator.
  • the reference deviation is determined depending on the demanded flow rate for the hydraulic actuator producing the maximum load pressure, a control error in the flow rate supplied to that hydraulic actuator can be made smaller when the demanded flow rate is small.
  • the deviation ⁇ Q ref also becomes large to permit the control with a good response in the transient region.
  • a fifth embodiment of the present invention will be described with reference to Fig. 9. While the above fourth embodiment uses the maximum load pressure selector as means for detecting the hydraulic actuator producing the maximum load pressure, this embodiment adopts another method in this respect.
  • a pump tilting controller 12D of this embodiment has a maximum value selector 13 which receives the opening command values K1, K2...K n calculated by the respective valve controllers, selects the hydraulic actuator corresponding to the maximum opening command value as the hydraulic actuator producing the maximum load pressure, and then outputs the corresponding signal N. Since the hydraulic actuator producing the maximum load pressure is controlled with the maximum opening, the hydraulic actuator producing the maximum load pressure can be also detected in this embodiment by selecting the hydraulic actuator corresponding to the maximum opening command value. In response to the signal N from the maximum value selector 130, the switching unit 129 selects one of the absolute values of the input amounts from the control levers corresponding to that hydraulic actuator, and outputs it to the multiplier 127. The remaining functions are the same as those shown in Fig. 4.
  • This embodiment can also provides the similar advantage to the fourth embodiment shown in Figs. 7 and 8.
  • FIG. 10 A sixth embodiment of the present invention will be described with reference to Fig. 10. This embodiment is intended to improve responsivity of the pump tilting control.
  • a pump tilting controller 12E receives the signals of the flow rate deviations ⁇ Q1, ⁇ Q2.. ⁇ Q n from the valve controllers 11A, 11B and the signals of absolute values of the input amounts X1, X2...X n from the control levers, and calculates the tilting command value L based on these signals.
  • the pump tilting controller 12E has an adder 131 for adding the absolute values of the input amounts X1, X2...X n , a multiplier 132 for multiplying the total of these absolute values of the input amounts by a constant Ky, and an adder 133 for adding an output of the multiplier 132 to the output of the integrator 123.
  • An output of the multiplier 132 is used as a modification value for the tilting command value and an output of the adder 133 becomes the final tilting command value L.
  • the remaining functions are the same as those shown in Fig. 4.
  • a seventh embodiment of the present invention will be described with reference to Figs. 11 and 12.
  • the delivery rate of the hydraulic pump is controlled in accordance with the demanded flow rate by using the total of the input amounts from the control levers rather than the total ⁇ Q of the flow rate deviations.
  • a hydraulic drive system of this embodiment includes a pump tilting controller 12F for receiving the signals of the input amounts X1, X2 from the control levers 5A, 5B detected by the input amount sensors 50A, 50B, and calculating the tilting command value.
  • the delivery rate of the hydraulic pump when the delivery rate of the hydraulic pump is controlled by using the total ⁇ X of the input amounts from the control levers without introducing the reference deviation X ref , the delivery rate of the hydraulic pump may become larger than the flow rate actually passing through the flow control valve due to errors in the flow rate sensors 10A, 10B, the regulator 20 and so forth, which results in the problem that the surplus flow rate may be released.
  • Setting of the reference deviation X ref makes it possible to eliminate that problem and achieve economical operation.
  • the reference deviation X ref is given by approximately 1 to 5 % of the maximum delivery rate of the hydraulic pump x N (where N is the number of hydraulic actuators).
  • the flow control valve associated with the hydraulic actuator producing the maximum load pressure is controlled to be maximized in its opening, whereby the pressure loss can be suppressed to a small value.
  • the hydraulic actuator driven through the flow control valve can be operated with high accuracy without being affected by oil temperatures, etc. Also, since the flow control valve associated with the hydraulic actuator producing the maximum load pressure is maximized in its opening, the pressure loss can be suppressed to a small value. Further, in the case that the delivery rate of the hydraulic pump is controlled by using the total flow rate deviation ⁇ Q, the pump delivery rate can be controlled by setting a small value of the reference deviation ⁇ Q ref without causing the relief condition. In addition, accurate flow control can be enabled. Alternatively, in the case that the delivery rate of the hydraulic pump is controlled by using the total input amount ⁇ X, the pump delivery rate can be controlled not only in a reliable manner without causing the relief condition, but also in a stable manner without causing hunting.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Système de commande hydraulique comprenant: une série de débitmètres (10A, 10B) destinés à détecter respectivement des débits transmis à une pluralité d'actuateurs hydrualiques (3A, 3B); des dispositifs de commande de soupapes (11A, 11B) commandant une pluralité de soupapes de régulation de débit (40A, 40B), de sorte que les débits mesurés par les débitmètres coïncident avec les débits ordonnés par une pluralité de leviers de commande (5A, 5B); et des dispositifs de régulation de rotation (12; 12A-12F) à l'intérieur d'une pompe permettant de réguler le débit d'une pompe hydraulique de sorte que le débit de ladite pompe (1) soit inférieur, d'un débit prédéterminé (DELTAQref; Xref) à la somme des débits ordonnés par la série de leviers de commande. Le dispositif de régulation de rotation en inclinaison de pompe règle le débit de décharge de la pompe hydraulique (1) par des écarts de débit (DELTAQ1, DELTAQ2) obtenus par soustraction des débits mesurés par les débitmètres (10A, 10B) des débits ordonnés par les leviers de commande (5A, 5B).
EP93904317A 1992-02-18 1993-02-18 Systeme de commande hydraulique Expired - Lifetime EP0587902B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP30845/92 1992-02-18
JP3084592 1992-02-18
PCT/JP1993/000197 WO1993016285A1 (fr) 1992-02-18 1993-02-18 Systeme de commande hydraulique

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EP0587902A1 true EP0587902A1 (fr) 1994-03-23
EP0587902A4 EP0587902A4 (fr) 1994-10-19
EP0587902B1 EP0587902B1 (fr) 1997-06-04

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EP (1) EP0587902B1 (fr)
JP (1) JP3228931B2 (fr)
KR (1) KR970000242B1 (fr)
DE (1) DE69311239T2 (fr)
WO (1) WO1993016285A1 (fr)

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GB2279470A (en) * 1993-05-28 1995-01-04 Kubota Kk Hydraulic control system
EP0884482A1 (fr) * 1996-02-28 1998-12-16 Komatsu Ltd. Dispositif de commande pour machine hydraulique d'entrainement
EP1508736A1 (fr) * 2003-08-19 2005-02-23 Festo Corporation Procédé et appareil de diagnostic d'un système cyclique
WO2005024245A1 (fr) * 2003-09-11 2005-03-17 Bosch Rexroth Ag Dispositif de commande et procede d'alimentation en milieu sous pression d'au moins deux charges hydrauliques
US7031850B2 (en) 2004-04-16 2006-04-18 Festo Ag & Co. Kg Method and apparatus for diagnosing leakage in a fluid power system
US7405917B2 (en) 2006-06-16 2008-07-29 Festo Ag & Co. Method and apparatus for monitoring and determining the functional status of an electromagnetic valve
WO2008131990A1 (fr) * 2007-04-26 2008-11-06 Robert Bosch Gmbh Dispositif et procédé de régulation de plusieurs points de distribution
WO2014033496A1 (fr) * 2012-08-25 2014-03-06 Gibellini Matteo Ensemble vanne hydraulique à commande électronique de débit
WO2018024790A1 (fr) * 2016-08-02 2018-02-08 Caterpillar Sarl Dispositif et procédé de commande de pompe
EP3575615A4 (fr) * 2018-03-15 2020-11-18 Hitachi Construction Machinery Co., Ltd. Engin de chantier
EP4004389A4 (fr) * 2019-07-26 2023-11-29 Fluid Power Al, LLC Système et procédé d'évaluation d'événements de système hydraulique et d'exécution de réponses

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US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
DE19835015A1 (de) * 1998-08-03 2000-02-10 Linde Ag Hydrostatisches Antriebssystem
DE19834955B4 (de) * 1998-08-03 2008-02-07 Linde Material Handling Gmbh Hydrostatisches Antriebssystem
US20010037689A1 (en) * 2000-03-08 2001-11-08 Krouth Terrance F. Hydraulic actuator piston measurement apparatus and method
DE60112266T2 (de) 2000-03-08 2006-06-08 Rosemount Inc., Eden Prairie Bidirektionaler differenzdruck- durchflusssensor
AU2001241641A1 (en) * 2000-03-08 2001-09-17 Rosemount, Inc. Piston position measuring device
US20010037724A1 (en) * 2000-03-08 2001-11-08 Schumacher Mark S. System for controlling hydraulic actuator
US6588313B2 (en) 2001-05-16 2003-07-08 Rosemont Inc. Hydraulic piston position sensor
US6722260B1 (en) 2002-12-11 2004-04-20 Rosemount Inc. Hydraulic piston position sensor
US6722261B1 (en) 2002-12-11 2004-04-20 Rosemount Inc. Hydraulic piston position sensor signal processing
DE102007035971A1 (de) * 2007-08-01 2009-02-05 Robert Bosch Gmbh Steueranordnung und Verfahren zur Ansteuerung von zumindest zwei hydraulischen Verbrauchern
DE102009027070A1 (de) * 2009-06-22 2010-12-23 Zf Friedrichshafen Ag Ansteuerschaltung für einen pneumatischen oder hydraulischen Aktuator
DE102011120767A1 (de) * 2011-12-10 2013-06-13 Robert Bosch Gmbh Elektrohydraulische Steuereinrichtung
CN103016466B (zh) * 2012-12-24 2015-03-25 中联重科股份有限公司 液压供油单元、液压泵站及液压供油单元的供油控制方法
CN103994110B (zh) * 2014-06-05 2016-03-09 中联重科股份有限公司 防打滑控制设备、系统、方法及工程机械
JP7190933B2 (ja) * 2019-02-15 2022-12-16 日立建機株式会社 建設機械
FR3106166B1 (fr) * 2020-01-09 2022-01-21 Bosch Gmbh Robert « Installation de commande d’une installation hydraulique à plusieurs récepteurs fonctionnant en parallèle ».

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Cited By (18)

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Publication number Priority date Publication date Assignee Title
GB2279470A (en) * 1993-05-28 1995-01-04 Kubota Kk Hydraulic control system
US5457960A (en) * 1993-05-28 1995-10-17 Kubota Corporation Hydraulic control system
EP0884482A1 (fr) * 1996-02-28 1998-12-16 Komatsu Ltd. Dispositif de commande pour machine hydraulique d'entrainement
EP0884482A4 (fr) * 1996-02-28 1999-05-19 Komatsu Mfg Co Ltd Dispositif de commande pour machine hydraulique d'entrainement
EP1798346A3 (fr) * 1996-02-28 2008-01-09 Komatsu Ltd. Dispositif de commande pour machine à entraînement hydraulique
EP1798346A2 (fr) * 1996-02-28 2007-06-20 Komatsu Ltd. Dispositif de commande pour machine à entraînement hydraulique
EP1553231A3 (fr) * 1996-02-28 2005-07-20 Komatsu Ltd. Dispositif de commande pour machine hydraulique d'entraínement
US7124057B2 (en) 2003-08-19 2006-10-17 Festo Corporation Method and apparatus for diagnosing a cyclic system
EP1508736A1 (fr) * 2003-08-19 2005-02-23 Festo Corporation Procédé et appareil de diagnostic d'un système cyclique
WO2005024245A1 (fr) * 2003-09-11 2005-03-17 Bosch Rexroth Ag Dispositif de commande et procede d'alimentation en milieu sous pression d'au moins deux charges hydrauliques
US7434393B2 (en) 2003-09-11 2008-10-14 Bosch Rexroth Ag Control system and method for supplying pressure means to at least two hydraulic consumers
US7031850B2 (en) 2004-04-16 2006-04-18 Festo Ag & Co. Kg Method and apparatus for diagnosing leakage in a fluid power system
US7405917B2 (en) 2006-06-16 2008-07-29 Festo Ag & Co. Method and apparatus for monitoring and determining the functional status of an electromagnetic valve
WO2008131990A1 (fr) * 2007-04-26 2008-11-06 Robert Bosch Gmbh Dispositif et procédé de régulation de plusieurs points de distribution
WO2014033496A1 (fr) * 2012-08-25 2014-03-06 Gibellini Matteo Ensemble vanne hydraulique à commande électronique de débit
WO2018024790A1 (fr) * 2016-08-02 2018-02-08 Caterpillar Sarl Dispositif et procédé de commande de pompe
EP3575615A4 (fr) * 2018-03-15 2020-11-18 Hitachi Construction Machinery Co., Ltd. Engin de chantier
EP4004389A4 (fr) * 2019-07-26 2023-11-29 Fluid Power Al, LLC Système et procédé d'évaluation d'événements de système hydraulique et d'exécution de réponses

Also Published As

Publication number Publication date
US5535587A (en) 1996-07-16
EP0587902B1 (fr) 1997-06-04
KR970000242B1 (ko) 1997-01-08
EP0587902A4 (fr) 1994-10-19
KR930702884A (ko) 1993-11-29
DE69311239D1 (de) 1997-07-10
DE69311239T2 (de) 1997-10-16
JP3228931B2 (ja) 2001-11-12
WO1993016285A1 (fr) 1993-08-19

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